KR20150054442A - Apparatus and method for controlling automatic driving of vehicle - Google Patents

Abstract

An apparatus and a method for controlling automatic driving of vehicle are provided to control the operation mode of a map linking system into a limited operation, a normal operation, an emergency operation, etc. according to the driving situation for a safe operation of a map linking driving assistance or automatic driving system. The apparatus of the present invention comprises: an input unit that receives the input of a command related to automatic driving control of a vehicle from the driver; a linking control determining unit that, when the command is entered, determines whether an automatic driving control of the vehicle based on road information is possible; and an automatic driving control unit that, when it is determined that an automatic driving control of the vehicle based on road information is possible, uses a vehicle sensor and a navigation and controls an automatic driving of the vehicle, and, when it is determined that an automatic driving control of the vehicle based on road information is impossible, uses only the vehicle sensor and controls an automatic driving of the vehicle.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

The present invention relates to an apparatus and a method for controlling automatic running of a vehicle. More particularly, the present invention relates to an apparatus and method for controlling an automatic running of a vehicle in different modes depending on a running situation.

Speed is the cause of many car accidents, and it makes the damage caused by the accident big. Therefore, EURO NCAP will give a safety assessment to a device that keeps a preset speed limit, and will give an advantage to Intelligent Speed Adaptation (ISA) using position information in the future.

The automotive control product market is gradually expanding. Adaptive Cruise Control (ACC) products, which include cruise control products that keep the car at a constant speed, and cruise control, and add radar to maintain proper vehicle distance from the preceding vehicle The situation is becoming widespread.

In addition, the prevalence of navigation is becoming increasingly common and the size of the market is also growing. The market research agency predicts that the spread of driver assistance systems in conjunction with navigation will increase in the future.

Map-Support ACC is a technology that acquires forward road information from navigation system and provides appropriate automatic speed control according to road attributes while driving. It is expected to expand the market in the future.

However, the conventional map-based ACC only improves the precision of road information, and does not consider ride comfort and stability of the driver or the passenger. In most cases, it is assumed that the system is focused on warning when operating the system in the area of interest, or that the level of warning determination is simple.

There is a lack of description about system failure that can come from difference of map information, predicted path, and actual driving. In the future, Map application ADAS products need to be prepared for many situations that can occur when they are deployed.

For example, in the case of a conventional Map-Supported ACC that provides a speed limit compliance for a forward speed camera, when the vehicle is driven at a high speed by manual operation, kicks the system near the speed camera, Even though actual systems such as unsteady GPS reception may be in a wide variety of situations, they do not provide adequate countermeasures against such a dangerous situation.

Korean Patent Publication No. 2008-0073831 describes a method of automatically limiting a vehicle speed when passing through a school zone using navigation. However, this method does not describe any method of responding to the above-mentioned dangerous situation at all.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a map-supported driving assist system or an automatic driving system, And to provide a vehicle automatic running control device and method for adjusting an operating mode.

However, the objects of the present invention are not limited to those mentioned above, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

SUMMARY OF THE INVENTION The present invention has been made in order to achieve the above-mentioned object, and it is an object of the present invention to provide a vehicle control system, An interlocking control determining unit for determining whether or not the automatic driving control of the vehicle is possible based on the road information when the command is input; And controlling the automatic driving of the vehicle by using the vehicle sensor and the navigation if it is determined that the automatic driving control of the vehicle based on the road information is possible. If it is determined that the automatic driving control of the vehicle based on the road information is impossible, And an automatic driving control unit for controlling the automatic driving of the vehicle using only the automatic driving control unit.

Preferably, the interlocking control determining unit determines whether or not the automatic driving control of the vehicle based on the road information is possible by using one of GPS reception, service area entry, and driver request.

Preferably, the automatic driving control unit controls the automatic driving of the vehicle by using the vehicle sensor and the navigation unit when it is determined that the predetermined time has elapsed or the predetermined distance or the inter-vehicle distance from the preceding vehicle is equal to or greater than the reference distance do.

Preferably, the vehicle automatic travel control device outputs a warning message when at least one of the dangerous situation information of the GPS reception disabled, the service area departure, the steering operation by the driver, and the front obstacle detection is detected, The automatic control releasing unit releases the automatic driving control of the vehicle if the dangerous situation information is sensed after the elapse of the predetermined time period.

Preferably, the vehicle automatic-running control apparatus outputs a warning message when at least one of circumstance information such as a traveling route initialization, a traveling route search, a lane departure and an inter-vehicle distance control is detected, and after a predetermined time elapses And an automatic control changing unit for controlling the automatic running of the vehicle using only the vehicle sensor except for the navigation when the circumstance information is detected.

According to another aspect of the present invention, there is provided a method of controlling a vehicle, Determining whether automatic vehicle control of the vehicle is possible based on the road information when the command is input; And controlling the automatic driving of the vehicle by using the vehicle sensor and the navigation if it is determined that the automatic driving control of the vehicle based on the road information is possible. If it is determined that the automatic driving control of the vehicle based on the road information is impossible, And controlling the automatic running of the vehicle by using only the automatic running control of the vehicle.

Preferably, the determining step determines whether the automatic driving control of the vehicle based on the road information is possible by using one of GPS reception, service area entry, and driver request.

Preferably, the controlling step controls the automatic running of the vehicle by using the vehicle sensor and the navigation, when it is determined that the predetermined time has elapsed, the predetermined distance is running, or the inter-vehicle distance from the preceding vehicle is equal to or longer than the reference distance do.

Preferably, after the step of controlling, if at least one of the dangerous situation information of the GPS reception disabled, the service area departure, the steering operation by the driver, and the front obstacle detection is detected, a warning message is output, And if the dangerous situation information is sensed after the elapse of the predetermined time period, releasing the automatic driving control of the vehicle.

Preferably, after the step of controlling, a warning message is output when at least one of the state information of the driving route initialization, the traveling route search, the lane departure and the inter-vehicle distance control is detected, and after a predetermined time elapses And if the state information is sensed, excluding the navigation and controlling the automatic running of the vehicle using only the vehicle sensor.

The present invention can achieve the following effects by adjusting the operation mode of the map linkage system by limited operation, normal operation, emergency operation, etc., for safe operation of the map-supported driving assist system or the automatic traveling system .

First, it becomes possible to provide appropriate functions for the driving situation (i.e., the best function that the system can provide in that situation, such as full / limited / warning / un-operation by subdividing various actual operating conditions).

Second, the stability of the system can be secured.

Third, the control stability can be improved by restricting the control under the harsh conditions.

Fourth, the operation of the vehicle control system is subdivided and the situation is informed to the driver, so that the driver's convenience can be achieved.

Fifth, modularization can be applied to the expansion of Map-Suppoted function of various ADAS (Advanced Driver Assistance Systems), and reuse effect can be obtained.

Sixth, a comprehensive fail / safe structure for commercialization of Map-Supported ADAS can be secured.

1 is a conceptual diagram showing an internal configuration of a system according to an embodiment of the present invention.
Fig. 2 is a conceptual diagram showing the operational flow of the system shown in Fig. 1. Fig.
FIG. 3 is a table illustrating each system state shown in FIG. 2. FIG.
FIGS. 4 and 5 are reference views for further illustrating the system state shown in FIG.
6 is a block diagram schematically showing a vehicle automatic travel control apparatus according to a preferred embodiment of the present invention.
7 is a flowchart schematically showing a method of controlling an automatic vehicle travel according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to designate the same or similar components throughout the drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In addition, the preferred embodiments of the present invention will be described below, but it is needless to say that the technical idea of the present invention is not limited thereto and can be variously modified by those skilled in the art.

The present invention has been proposed for the purpose of developing a navigation-related SCC (Smart Cruise Control) system and an integrated active safety system.

Recently, various ADAS (Advanced Driver Assistance Systems) additional functions such as existing SCC and LKAS (Lane Keeping Assist System) through linking of map information have been commercialized. Therefore, it is necessary to secure the fail / safe structure in the overall system operation status such as the system operation advance stage, the operation stage, and the dangerous stage, away from the fragmentary fail / safe of related technologies. The present invention proposes a general fail / safe structure of Map-Supported ADAS that is not limited to a specific ADAS function.

1 is a conceptual diagram showing an internal configuration of a system according to an embodiment of the present invention.

The present invention relates to a system fail / safe of an ADAS system applying a map. It is an object of the present invention to identify a variety of states according to a situation of the system, and to provide appropriate automatic running control or driving support that can be provided in that state to induce stable operation of the system.

The SAFE / FAIL system 100 shown in FIG. 1 performs a system fail / safe function of the driver assistance system through automatic vehicle control such as ACC or SCC using a MAP.

The SAFE / FAIL system 100 divides the system state into various stages such as ADAS Not Available, ADAS Only, Map-Supported Ready, Map-Supported Enable, Map-Supported Enable, To provide a stable function.

The navigation 110 performs a function of acquiring road information.

The ADAS sensor 120 performs a function of acquiring travel information of the vehicle. The ADAS sensor 120 can acquire the steering angle, the longitudinal / lateral velocity, the longitudinal / lateral acceleration, the yaw rate, and the like with running information of the vehicle. The ADAS sensor 120 includes various vehicle sensors including a radar sensor and a camera sensor.

ADAS Only, Map-Supported Ready, and ADAS based on the road information obtained by the navigation 110 and the travel information obtained by the ADAS sensor 120. The MAP- Map-Supported Enable, and Map-Supported Alert. A brief description of each state of the system such as ADAS Not Available, ADAS Only, Map-Supported Ready, Map-Supported Enable, and Map-Supported Alert is as shown in FIG.

The Map-Supported ADAS Fail / Safe state machine 130 determines whether automatic vehicle control of the vehicle based on the road information is possible based on the road information and the driving information. When it is determined that the automatic running control of the vehicle based on the road information is possible, the Map-Supported ADAS Fail / Safe state machine 130 controls the Map-Supported ADAS function module 140 to operate. On the other hand, if it is determined that the automatic driving control of the vehicle based on the road information is impossible, the Map-Supported ADAS Fail / Safe state machine 130 controls the ADAS function module 150 to operate.

The Map-Supported ADAS function module 140 controls the automatic travel of the vehicle using the navigation 110 and the ADAS sensor 120. [ At this time, the Map-Supported ADAS function module 140 operates the ADAS driver 180 through the switching module 160 to control the automatic travel of the vehicle.

The ADAS function module 150 controls the automatic running of the vehicle using only the ADAS sensor 120. [ Similar to the case of the map-supported ADAS function module 140, the ADAS function module 150 also controls the automatic travel of the vehicle by operating the ADAS driver 180 through the switching module 160.

Meanwhile, the Map-Supported ADAS Fail / Safe state machine 130 analyzes the information obtained from the navigation 110 or the ADAS sensor 120, and when it is determined that a dangerous situation has occurred, the driver can check the information using the display device 170 And the ADAS driver 180 can be deactivated through the switching module 160. [0050] FIG.

The SAFE / FAIL system 100 described above defines a state (mode) that provides a limited map linkage function (ex: small acceleration use control), so that the ADAS system linked with the map such as initialization state, GPS reception state, By providing extremely limited vehicle control or driving support functions in a situation where it is difficult to perform the full function at one time, an appropriate level of safety and convenience of the system is secured.

Fig. 2 is a conceptual diagram showing the operational flow of the system shown in Fig. 1. Fig. The following description refers to Fig. 1 and Fig.

When the driver inputs ADAS ON, the Map-Supported ADAS Fail / Safe state machine 130 sets the system state to ADAS Only 220. [ On the other hand, before the driver enters the ADAS ON button, the Map-Supported ADAS Fail / Safe state machine 130 sets the system state to ADAS Not Available (210).

In the above, the ADAS Not Available 210 is a state in which the ADAS operation is impossible, and inherits all conditions and failures of the ADAS as the basis of the Map-Supported ADAS. Map-Supported ADAS (automatic vehicle control based on road information) stops all functions to complete the ADAS Fail / Safe operation when the condition occurs.

ADAS Only (220) refers to a state in which only ADAS operates.

When the driver inputs Map-Supported Service ON, the Map-Supported ADAS Fail / Safe state machine 130 changes the system state from the ADAS Only 220 to the Map-Supported Ready 230.

The Map-Supported Ready 230 is a state in which the vehicle control function is provided using only an extremely limited control characteristic than the control that the Map-Supported can provide. Control characteristics include jerk, acceleration / deceleration, and control gain.

The Map-Supported Ready (230) provides stability by providing only extremely assisted vehicle control using only limited control characteristics, but performance provided by the original system, such as speed limit compliance, may not be satisfied.

In the ADAS Only 220, when the Map-Supported operation is started according to the driver input, the preset flag, the service area entry, etc., the map-supported ready 230 is entered.

On the other hand, the user may enter Map-Supported Ready 230 from Map-Supported Enable 240 due to GPS reception failure, route deviation, change of control characteristics, driver intervention, or the like.

The conditions for moving from one system state to another system are summarized as follows.

(1) Conditions for moving from ADAS Only (220) to Map-Supported Ready (230): Map-Supported function On command (driver operation, system setting, etc.)

(2) Conditions for moving from Map-Supported Enable (240) to Map-Supported Ready (230): System start, operator override, path initialization, path deviations / , Control setting change, etc. Other warning conditions Map-Supported Non-normal operating conditions

(3) Condition to move from Map-Supported Ready (230) to Map-Supported Enable (240): The vehicle travels more than a preset fixed distance and does not require unstable control such as sudden deceleration or steering. 230), it moves to the Map-Supported Enable (240) state.

When moving from Map-Supported Ready 230 to Map-Supported Enable 240, it is desirable to move after a certain condition is met. Certain conditions include a predetermined time elapsed, a predetermined speed exceeded, and the like.

FIG. 4 explains why a certain condition is required when moving from Map-Supported Ready 230 to Map-Supported Enable 240. FIG.

Fig. 4 (a) illustrates the operation in the ready state. In the ready state, only limited control functions are provided.

Fig. 4 (b) illustrates a case where there is no ready state. Map-Supported ADAS A rapid deceleration may occur to adhere to the speed limit, such as when there is a speed limit near the start of the ADAS.

Fig. 4 (c) illustrates the variable preparation state. Map-Supported ADAS If you are ready to start and provide only limited ADAS functionality, you can avoid spikes. However, speed limit compliance may not be possible.

Referring again to Figures 1 and 2,

Map-Supported Enable (240) indicates a Map-Supported Enable state in which a Map-Supported ADAS function, which is originally provided with proper speed or steering control by linking Map information, operates normally.

The Map-Supported Enable (240) inherently provides the intended function in full, and applies a design that can appropriately respond to sensor noise, control error, etc. occurring during operation.

The present invention relates to Fail / Safe of Map-Supported ADAS and is not fixed and applied to a specific Map-Supported ADAS. However, the Map-Supported ADAS to which the present invention is applied must be capable of determining or predicting whether the vehicle is unstable, such as a control target failure during operation or excessive control.

Figure 5 is an illustration of normal operation of the Map-Supported SCC. 5 is a map-supported SCC that automatically controls the speed for the forward limit speed. In order to comply with the speed limit, the speed is controlled by appropriately lowering the deceleration characteristic in case of excessive deceleration due to control error or uncertainty of the road surface state during deceleration control. If the deceleration is insufficient as shown in ②, . If a deceleration characteristic above a certain level is required to achieve the control goal, the system state is determined to be dangerous and the system state is transferred to Map-Supported Alert 250.

It is converted to Map-Supported Alert (250) if the control goal can be achieved only by using a control amount that is greater than or equal to that allowed by the system. For example, if the maximum allowable deceleration is 0.4 G, but the system requires a further deceleration to comply with the forward limit speed, it switches to Map-Supported Alert 250. The Map-Supported Alert 250 uses the set maximum control amount and simultaneously transmits a warning to the driver interface such as a cluster.

1 to 5, an embodiment of the present invention has been described. Hereinafter, the best mode of the present invention to be proposed from FIG. 1 to FIG. 5 will be described with reference to FIG. 6 is a block diagram schematically showing a vehicle automatic travel control apparatus according to a preferred embodiment of the present invention.

6, the vehicle automatic cruise control apparatus 600 includes an input unit 610, an interlocking control determining unit 620, an automatic travel control unit 630, a power supply unit 660, and a main control unit 670.

The power supply unit 660 performs a function of supplying power to each configuration of the vehicle automatic travel control device 600. [ The main control unit 670 controls the overall operation of each component constituting the vehicle automatic travel control device 600. [ The power supply unit 660 and the main control unit 670 may not be provided in the present embodiment when the vehicle automatic travel control apparatus 600 is provided in the main ECU of the vehicle.

The input unit 610 receives a command related to automatic driving control of the vehicle from the driver.

When a command related to the automatic driving control of the vehicle is input to the input unit 610 after the vehicle starts driving, the main control unit 670 activates the ADAS function (ADAS Only). On the other hand, before the command relating to the automatic driving control of the vehicle is input to the input unit 610, the main control unit 670 deactivates the ADAS function (ADAS Not Available).

The interlocking control determining unit 620 determines whether or not the automatic driving control of the vehicle based on the road information is possible when a command related to the automatic driving control of the vehicle is input to the input unit 610. [

The interlocking control determining unit 620 can determine whether the automatic driving control of the vehicle based on the road information is possible by using the GPS reception, the service area entry, or the driver's request. For example, the interlocking control determining unit 620 determines that the automatic driving control of the vehicle is possible based on the road information when the GPS reception is possible, the entering of the service area, the presence of the driver request, It is judged that the automatic running control of the vehicle based on the road information is impossible.

The automatic driving control unit 630 controls the automatic driving of the vehicle using the vehicle sensor and the navigation system when it is determined that the automatic driving control of the vehicle based on the road information is possible by the interlocking control determining unit 620, The automatic running control of the vehicle is controlled using only the vehicle sensor. In the above, controlling the automatic travel of the vehicle using the vehicle sensor and navigation means Map-Supported Enable state, and controlling the automatic travel of the vehicle using only the vehicle sensor means the ADAS Only state.

The automatic driving control unit 630 preferably controls the automatic driving of the vehicle using the vehicle sensor and the navigation system when it is determined that the predetermined time has elapsed or the predetermined distance has been set or the inter-vehicle distance from the preceding vehicle is equal to or greater than the reference distance. The automatic drive control unit 630 maintains the Map-Supported Ready state at the beginning even if it is determined that the automatic drive control of the vehicle is possible based on the road information, and switches to the Map-Supported Enable state when it is determined that the drive is completed to some extent.

The vehicle automatic travel control apparatus 600 may further include an automatic control release unit 640 or an automatic control change unit 650. [

The automatic control release unit 640 outputs a warning message when at least one of the dangerous situation information of the GPS reception disabled, the service area departure, the driver's operation of the steering device, and the front obstacle detection is detected, and after a predetermined time elapses And performs the function of releasing the automatic driving control of the vehicle when the dangerous situation information is detected.

The automatic control release unit 640 switches from the Map-Supported Alert state to the ADAS Not Available state when the dangerous situation information is detected even after a predetermined time has elapsed.

The automatic control changing unit 650 outputs a warning message when at least one of the state information of the driving route initialization, the traveling route search, the lane departure and the inter-vehicle distance control is detected, , The navigation system is excluded and the automatic driving of the vehicle is controlled using only the vehicle sensor.

The automatic control changing unit 650 switches the Map-Supported Enable state to the ADAS Only state when the state information is detected even after a predetermined time has elapsed.

Next, a method of operating the vehicle automatic travel control device 600 of Fig. 6 will be described. 7 is a flowchart schematically showing a method of controlling an automatic vehicle travel according to a preferred embodiment of the present invention. The following description refers to Fig. 6 and Fig.

First, the input unit 610 receives a command related to the automatic driving control of the vehicle from the driver (S710).

When a command related to the automatic driving control is input to the input unit 610, the interlocking control determining unit 620 determines whether automatic driving control of the vehicle based on the road information is possible (S720).

If it is determined that the automatic driving control of the vehicle based on the road information is possible, the automatic driving control unit 630 controls the automatic driving of the vehicle using the vehicle sensor and navigation (S730). On the other hand, if it is determined that the automatic driving control of the vehicle based on the road information is impossible, the automatic driving control unit 630 controls the automatic driving of the vehicle using only the vehicle sensor (S730 ').

If at least one of the dangerous situation information (step S740) is detected after step S730, the automatic control release unit 640 issues a first warning message to the driver, If the dangerous situation information is sensed even after a predetermined time has elapsed, the automatic driving control of the vehicle is finally released (S750).

If at least one of the state information of the state of the driving route initialization, the driving route re-searching, the lane departure and the inter-vehicle distance control is detected (S760), the automatic control changing unit 650 firstly issues a warning message If the state information is sensed even after a predetermined time has elapsed, the automatic navigation of the vehicle is controlled using only the vehicle sensor (S730 ').

It is to be understood that the present invention is not limited to these embodiments, and all elements constituting the embodiment of the present invention described above are described as being combined or operated in one operation. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. In addition, such a computer program may be stored in a computer readable medium such as a USB memory, a CD disk, a flash memory, etc., and read and executed by a computer to implement an embodiment of the present invention. As the recording medium of the computer program, a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like can be included.

Furthermore, all terms including technical or scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined in the Detailed Description. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

It will be apparent to those skilled in the art that various modifications, substitutions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

Claims (10)

An input unit for receiving a command related to automatic driving control of the vehicle from a driver;
An interlocking control determining unit for determining whether or not the automatic driving control of the vehicle is possible based on the road information when the command is input; And
And controlling the automatic driving of the vehicle by using the vehicle sensor and the navigation device if it is determined that the automatic driving control of the vehicle based on the road information is possible. If it is determined that the automatic driving control of the vehicle based on the road information is impossible, An automatic running control unit for controlling the automatic running of the vehicle
And a control unit for controlling the operation of the vehicle. The method according to claim 1,
Wherein the interlocking control determining unit determines whether or not the automatic driving control of the vehicle based on the road information is possible using any one of GPS reception, service area entry, and driver request. . The method according to claim 1,
Wherein the automatic driving control unit controls the automatic traveling of the vehicle by using the vehicle sensor and the navigation when it is determined that the predetermined time has elapsed or the predetermined distance or the inter-vehicle distance from the preceding vehicle is equal to or greater than the reference distance And a control unit for controlling the vehicle. The method according to claim 1,
A warning message is output when at least one of the dangerous situation information of the GPS reception disabled, the service area departure, the steering operation by the driver, and the front obstacle detection is detected, and if the dangerous situation information is detected even after a predetermined time elapses And an automatic control releasing part
And a control unit for controlling the vehicle. The method according to claim 1,
A warning message is output if at least one of the state information of the state of the traveling route, the traveling route re-searching, the lane departure and the headway distance control is detected, and if the state information of the state is detected even after a predetermined time elapses, And an automatic control changing unit for controlling the automatic running of the vehicle using only the vehicle sensor,
And a control unit for controlling the vehicle. Receiving a command related to automatic drive control of the vehicle from a driver;
Determining whether automatic vehicle control of the vehicle is possible based on the road information when the command is input; And
And controlling the automatic driving of the vehicle by using the vehicle sensor and the navigation device if it is determined that the automatic driving control of the vehicle based on the road information is possible. If it is determined that the automatic driving control of the vehicle based on the road information is impossible, Controlling the automatic running of the vehicle
And a control unit for controlling the vehicle. The method according to claim 6,
Wherein the determining step determines whether or not the automatic driving control of the vehicle based on the road information is possible by using one of GPS reception, service area entry, and driver request, . The method according to claim 6,
Wherein the controlling step controls the automatic traveling of the vehicle by using the vehicle sensor and the navigation when it is determined that the predetermined time has elapsed or the predetermined distance or the inter-vehicle distance from the preceding vehicle is equal to or longer than the reference distance Wherein the vehicle is driven by a vehicle. The method according to claim 6,
A warning message is output when at least one of the dangerous situation information of the GPS reception disabled, the service area departure, the steering operation by the driver, and the front obstacle detection is detected, and if the dangerous situation information is detected even after a predetermined time elapses Releasing the automatic running control of the vehicle
Further comprising the steps of: The method according to claim 6,
A warning message is output if at least one of the state information of the state of the traveling route, the traveling route re-searching, the lane departure and the headway distance control is detected, and if the state information of the state is detected even after a predetermined time elapses, And controlling the automatic running of the vehicle using only the vehicle sensor
Further comprising the steps of:

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